CN114886355A - Control method and device of cleaning robot system - Google Patents
Control method and device of cleaning robot system Download PDFInfo
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- CN114886355A CN114886355A CN202210521926.XA CN202210521926A CN114886355A CN 114886355 A CN114886355 A CN 114886355A CN 202210521926 A CN202210521926 A CN 202210521926A CN 114886355 A CN114886355 A CN 114886355A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000009434 installation Methods 0.000 claims abstract description 20
- 239000004744 fabric Substances 0.000 claims description 42
- 239000002184 metal Substances 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 12
- 238000003032 molecular docking Methods 0.000 claims description 3
- 238000011900 installation process Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 9
- 230000002349 favourable effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The invention discloses a control method and a device of a cleaning robot system, wherein the control method comprises the following steps: detecting whether the robot body stops in the robot stopping space or not; under the condition that the robot body is detected to stop in the robot stopping space, controlling the lifting chassis to drive the mop plate placed on the lifting chassis to lift by a first preset distance; determining the state between the mop plate and the mop rotating shaft; controlling the lifting chassis to drive the mop disc placed on the lifting chassis to descend for a first preset distance under the condition that the mop disc and the mop rotating shaft are not assembled successfully, and starting the lifting chassis to drive the mop disc placed on the lifting chassis to ascend for the first preset distance after controlling the mop rotating shaft to rotate for a preset time; in the successfully assembled state between the mop plate and the mop rotation shaft, first information is emitted about the successful installation of the mop plate. The proposal can solve the problem that the mop plate has lower installation power in the automatic installation process.
Description
Technical Field
The invention relates to the technical field of household intelligent equipment, in particular to a control method and a control device of a cleaning robot system.
Background
Household intelligent equipment plays an increasingly important role in the life of people. Thus, more and more home smart devices are emerging in people's lives. Wherein, cleaning machines people is comparatively common domestic smart machine. In order to improve cleaning ability, related art cleaning robots are provided with not only a cleaning head but also a detachable mop tray to which a mop is attached. When the floor mopping mode is entered, the cleaning robot performs a floor mopping operation on the floor.
When the cleaning operation of the cleaning robot is not needed or the mop needs to be replaced after working for a period of time, the user needs to disassemble the mop disc. Of course, after the mop plate is detached, the mop plate needs to be installed when the mop plate is used again by a user.
The related undisclosed technology relates to a structure that can realize that mop dish is automatic to be dismantled, can realize the automatic dismouting of mop dish, and then replaces the manual dismouting of user, can improve dismouting efficiency undoubtedly to promote user experience. In this technique, a floor cleaning robot is provided with a cleaning base station, the cleaning base station and the cleaning robot constitute a cleaning robot system, and the mop plate is automatically attached and detached in the cleaning base station. However, the automatic disassembly and assembly process of the mop plate has the problem of low disassembly and assembly success rate.
Disclosure of Invention
The invention discloses a control method and a control device of a cleaning robot system, which aim to solve the problem of lower installation power of a mop plate of a cleaning robot in the automatic installation process.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, the present application discloses a control method of a cleaning robot system, the cleaning robot system includes a cleaning robot and a cleaning base station, the cleaning base station is provided with a robot parking space, the cleaning robot includes a robot body and a mop plate, the robot body includes a mop rotation shaft, the cleaning base station includes a lifting chassis disposed in the robot parking space, the control method includes:
detecting whether the robot body is parked in the robot parking space or not;
under the condition that the robot body is detected to be parked in the robot parking space, controlling the lifting chassis to drive the mop plate placed on the lifting chassis to lift by a first preset distance;
determining a state between the mop plate and the mop rotation shaft;
controlling the lifting chassis to drive the mop disc placed on the lifting chassis to descend for a first preset distance under the condition that the mop disc and the mop rotating shaft are not assembled successfully, and starting to control the lifting chassis to drive the mop disc placed on the lifting chassis to ascend for the first preset distance after controlling the mop rotating shaft to rotate for a preset time;
in the successfully assembled state between the mop plate and the mop rotation shaft, first information is emitted about the successful installation of the mop plate.
In a second aspect, the present application further discloses a control device for a cleaning robot system, the cleaning robot system includes a cleaning robot and a cleaning base station, the cleaning base station is provided with a robot parking space, the cleaning robot includes a robot body and a mop plate, the robot body includes a mop rotation shaft, the cleaning base station includes a lifting chassis arranged in the robot parking space, the control device includes:
the first detection module is used for detecting whether the robot body stops in the robot stopping space or not;
the first control module is used for controlling the lifting chassis to drive the mop disc placed on the lifting chassis to lift by a first preset distance under the condition that the robot body is detected to stop in the robot stopping space;
a first determining module for determining a state between the mop plate and the mop rotation shaft;
the second control module is used for controlling the lifting chassis to drive the mop disc placed on the lifting chassis to descend for the first preset distance and controlling the mop rotating shaft to rotate for preset time and then starting the first control module under the condition that the mop disc and the mop rotating shaft are not assembled successfully;
and the first prompting module is used for sending first information about successful installation of the mop plate under the condition that the assembly between the mop plate and the mop rotating shaft is successful.
The technical scheme adopted by the invention can achieve the following technical effects:
according to the embodiment of the application, when the mop plate and the mop rotating shaft are detected to be in an unassembled state, the mop plate and the mop rotating shaft are controlled to be installed again after the mop rotating shaft is controlled to rotate, so that the phenomenon that the robot body directly leaves the robot parking space after the mop plate is unsuccessfully installed is avoided, the frequency of installing the mop plate in the robot parking space is reduced, the installing efficiency of the mop plate and the mop rotating shaft is undoubtedly improved, the position of the robot body when the robot is parked is relatively accurate, when the mop plate and the mop rotating shaft are installed, the problem that the mop plate and the mop rotating shaft are inaccurate is solved, the matching position of the mop plate and the mop rotating shaft when the mop plate and the mop rotating shaft are matched can be adjusted by rotating the mop rotating shaft, and the position of the cleaning robot is directly and integrally changed relative to the mop not rotating, is favorable for improving the success rate of the installation of the mop cloth disc and the mop cloth rotating shaft.
Drawings
Fig. 1 is a schematic structural diagram of a cleaning robot system according to an embodiment of the present invention;
FIG. 2 is a control flow chart of a first control mop tray installation disclosed in the embodiment of the invention;
FIG. 3 is a flow chart illustrating a second control of mop plate installation according to the embodiment of the present invention;
FIG. 4 is a flow chart illustrating a third control of mop plate installation according to the embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a control device of a cleaning robot system according to an embodiment of the disclosure;
fig. 6 is a control flow chart of the first type for controlling the separation of the mop plate from the mop rotation shaft;
fig. 7 is a control flow chart of a second control of the separation of the mop plate from the mop rotation shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the disclosed cleaning robot system includes a cleaning robot and a cleaning base station, where the cleaning robot is a device for cleaning a cleaning area (e.g., a floor), and the cleaning base station is a device for docking the cleaning robot and cleaning the cleaning robot.
The cleaning base station is provided with a robot parking space, and the cleaning robot can automatically enter and exit the robot parking space. Cleaning machines people includes robot and mop dish, robot includes the mop rotation axis, robot can pass in and out the robot automatically and stop the space, the robot that installs the mop dish of course also can pass in and out the robot automatically and stop the space, in other words, cleaning machines people also can pass in and out the robot automatically and stop the space, the mop dish is the part that cleaning machines people used when mopping, the mop dish is used for installing on the mop rotation axis, after the mop dish is installed on the mop rotation axis, the mop rotation axis drives the mop dish and rotates in order to drag the ground function. The mop plate can be detached from the robot body when the cleaning robot does not need to mop the floor or needs to clean the mop plate. The separation and the assembly of the mop plate and the robot body are carried out in the parking space of the robot.
The cleaning base station comprises a lifting chassis arranged in the robot parking space, the lifting chassis can realize a lifting function, and when the robot body is parked in the robot parking space, the robot body can be located above the lifting chassis. Referring to fig. 2, the present application discloses a control method for mounting a mop plate to a mop rotation shaft, the disclosed control method comprising:
s101: whether the robot body stops in the robot stopping space is detected.
Specifically, at least one of the robot body and the cleaning base station is provided with an infrared detection device, and when the robot body stops in the robot stopping space, the infrared detection device can be triggered, so that the robot body can be determined to stop in the robot stopping space. Of course, at least one of the robot body and the cleaning base station may also be provided with a travel switch, and when the robot body stops in the robot parking space, the travel switch may be triggered, so that it may be determined that the robot body stops in the robot parking space. Furthermore, at least one of the robot body and the cleaning base station can be provided with a Hall sensor, whether the robot body stops in the robot stopping space is detected through the Hall sensor, and whether the robot body is in the robot stopping space is indicated through detecting a close-distance magnetic field. Of course, when detecting whether the robot body stops in the robot stopping space, the detection can be performed in other manners, and the specific detection manner is not limited here. Whether the robot body stops in the robot stopping space can be continuously detected or periodically detected.
The cleaning base station may be provided with a pressure sensor, the pressure sensor may be configured to detect whether the mop plate is placed on the lifting chassis, the pressure sensor may determine whether the mop plate is on the lifting chassis according to a change in the force, when the mop plate is placed on the lifting chassis, the pressure sensor detects that the pressure applied thereto is large (e.g., greater than a preset pressure threshold), which indicates that the mop plate has been placed on the lifting chassis, and if the pressure applied thereto when the pressure sensor detects that the pressure applied thereto is small (e.g., less than the preset pressure threshold), which indicates that the mop plate has not been placed on the lifting chassis.
S102: and under the condition that the robot body is detected to be stopped in the robot stopping space, controlling the lifting chassis to drive the mop plate placed on the lifting chassis to lift by a first preset distance.
In particular, upon detecting that the robot body is stopped in the robot stopping space, the lifting chassis may drive the mop cloth tray placed thereon to be lifted so as to be close to the mop rotating shaft for mounting the mop cloth tray on the mop rotating shaft. The mop plate can be placed on the lifting chassis in advance, or can be placed on the lifting chassis after the robot body enters the robot parking space. The lifting chassis can be connected with a driving mechanism, the driving mechanism can drive the lifting chassis to lift, and the driving mechanism can be a hydraulic driving piece, a pneumatic driving piece, a linear motor and the like. The first predetermined distance of raising may be a first predetermined distance of raising the mop tray from the lowermost position, but may of course be a first predetermined distance of raising from a position between the lowermost position and the uppermost position. After the first predetermined distance has been raised, the mop tray may be in the uppermost position or may be at a distance from the uppermost position.
S103: the position between the mop plate and the mop rotation axis is determined.
Specifically, the mop plate and the mop rotation shaft have an assembled state and an unassembled state, at least one of the mop plate and the mop rotation shaft may be provided with a position sensor or a travel switch, and when the mop plate is mounted on the mop rotation shaft, the mop plate and the mop rotation shaft are in the assembled state, and when the mop plate is unsuccessfully mounted on the mop rotation shaft, the mop plate and the mop rotation shaft are in the unassembled state. After the mop plate is mounted on the mop rotation shaft, a position sensor or a travel switch can be triggered. The state between the mop plate and the mop rotation shaft can thus be determined by whether the position sensor or the travel switch is activated. Furthermore, at least one of the mop plate and the mop rotation shaft may be provided with a hall sensor, which detects an installation state between the mop plate and the mop rotation shaft, and indicates whether the mop plate is installed on the mop rotation shaft by detecting a short-distance magnetic field. Of course, other ways of determining the condition between the mop plate and the mop rotation axis are possible, and are not limited in particular here.
S104: and under the condition that the mop plate and the mop rotating shaft are not assembled successfully, controlling the lifting chassis to drive the mop plate placed on the lifting chassis to descend for a first preset distance, and after controlling the mop rotating shaft to rotate for a preset time, starting the step of controlling the lifting chassis to drive the mop plate placed on the lifting chassis to ascend for the first preset distance, namely, entering S102.
Specifically, the lifting chassis is controlled to drive the mop cloth tray placed on the lifting chassis to descend for a first preset distance, namely the mop cloth tray is controlled to descend to an original position (which can be the lowest position), and the original position is a position at which the lifting chassis drives the mop cloth tray to be lifted. The mop rotating shaft can be connected with a driving mechanism, and the driving mechanism can control the mop rotating shaft to rotate. The preset time may be a time set in the system, or may be a time set for the cleaning robot system by a human. After controlling the lifting chassis to drive the mop tray placed thereon to descend a first preset distance and controlling the rotation of the mop rotation shaft for a preset time, S102 and the following steps may be initiated.
Specifically, the preset time may be 1s, 2s, or the like. After the mop rotating shaft rotates for the preset time, the stop position of the mop rotating shaft can be different, so that the next butt joint condition is changed. It should be noted that even if the preset time for controlling the rotation of the mop rotation shaft is equal every time, the driving process of the mop rotation shaft by the driving mechanism has an error, so that the stop position of the mop rotation shaft changes every time.
S105: in the successfully assembled state between the mop plate and the mop rotation shaft, a first message is sent about the successful installation of the mop plate.
The first information emitted may be sound information, light information, image information, etc.
According to the embodiment of the application, when the mop plate and the mop rotating shaft are detected to be in an unassembled state, the mop plate and the mop rotating shaft are controlled to be installed again after the mop rotating shaft is controlled to rotate, so that the phenomenon that the robot body directly leaves the robot parking space after the mop plate is unsuccessfully installed is avoided, the frequency of installing the mop plate in the robot parking space is reduced, the installing efficiency of the mop plate and the mop rotating shaft is undoubtedly improved, the position of the robot body when the robot is parked is relatively accurate, when the mop plate and the mop rotating shaft are installed, the problem that the mop plate and the mop rotating shaft are inaccurate is solved, the matching position of the mop plate and the mop rotating shaft when the mop plate and the mop rotating shaft are matched can be adjusted by rotating the mop rotating shaft, and the position of the cleaning robot is directly and integrally changed without rotating the mop rotating shaft, is favorable for improving the success rate of the installation of the mop cloth disc and the mop cloth rotating shaft.
Referring to fig. 3, an alternative embodiment of the control method disclosed in the embodiment of the present application further includes:
s201: detecting a first actual control frequency for controlling the rotating shaft of the mop to rotate for a preset time.
The cleaning robot system may include a counter, and the first actual number of times of control may be counted by the counter. The counter can count once when the rotating shaft of the mop is controlled to rotate for a preset time.
S202: and under the condition that the first actual control time is equal to the first control time threshold value and the mop plate and the mop rotating shaft are in an unassembled state, sequentially controlling the robot body to exit from the robot parking space and enter the robot parking space again, and starting a step of detecting whether the robot body is parked in the robot parking space, namely S101.
The robot body enters the first position in the robot parking space again and is different from the second position in the robot parking space before exiting, and the first control time threshold is larger than or equal to 2 times.
Specifically, the first control frequency threshold may be a value preset by the system, or may be a value set manually. And when the first actual control time is equal to the first control time threshold value and the mop plate and the mop rotating shaft are in an unassembled state, the robot body can be sequentially controlled to exit from the robot parking space and enter the robot parking space again to adjust the parking position of the robot, and after the robot parking position is adjusted, the steps S101 and the following steps can be executed again.
The embodiment disclosed in the application reaches first control number of times threshold value through the first actual control number of times of rotating preset time at control mop rotation axis after, and the mop dish still installs unsuccessfully to can get rid of the condition of the mop dish with the mop rotation axis to be inaccurate, and then can park the position in the space through adjusting the robot body at the robot, install the mop dish again, thereby can promote the success rate of mop dish and mop rotation axis when the installation.
Referring to fig. 4, further, the control method disclosed in the embodiment of the present application further includes:
s301: and detecting the number of times of the robot body entering and exiting the parking space of the robot.
The robot body or the robot parking space can be internally provided with a counter, the number of the times of the entering and the exiting can be only the number of the times of the robot body entering the robot parking space, the number of the times of the entering and the exiting is counted once when the robot body entering the robot parking space is detected, of course, the number of the times of the exiting of the robot body from the robot parking space is only counted once when the robot body is detected, the number of the times of the entering and the exiting is counted once when the robot body is moved out of the robot parking space, and the counting mode of the number of the entering and the exiting is not limited.
S302: in the case of an access number greater than or equal to 2, the control is ended or a second message is issued about the unsuccessful installation of the mop plate.
Specifically, the second information may be alarm information. The second information may be sound information, image information, light information, etc.
The embodiment of the application can further determine that the mop cloth disc cannot be successfully installed on the mop rotating shaft and is not caused by the position of the robot body in the robot parking space when the number of the access times is more than or equal to 2, possibly the mop cloth disc or the mop rotating shaft breaks down, thereby timely finishing control or sending out second information about the fact that the mop cloth disc is not successfully installed, and avoiding the problems of excessive energy loss and possible damage caused by continuous installation of the mop cloth disc.
An optional embodiment, the mop dish can be equipped with the slot, and a plurality of first direction arch of interval distribution can be seted up to the inner wall of slot, forms the guide clearance between two adjacent first direction archs, and the mop rotation axis can be equipped with the second direction arch, and the guide clearance can be used for with the protruding direction cooperation of second direction, the second direction arch can be used for pegging graft in the guide clearance. In the above, one scenario where there is misalignment of the mop plate and the mop rotation axis is: the second guide projection is not aligned with the guide gap, but is aligned with the first guide projection, and the first guide projection can obstruct the further insertion installation of the second guide projection in the installation process.
In the control method disclosed in the embodiment of the present application, determining the state between the mop plate and the mop rotation shaft includes: it is determined whether there is an overlapping area between the first guide projection and the second guide projection.
It should be noted that whether the first guide protrusion and the second guide protrusion have an overlapping region may refer to whether the first guide protrusion and the second guide protrusion have an overlapping region in a direction perpendicular to an extending direction of the first guide protrusion or the second guide protrusion. The first guide bulge and the second guide bulge are strip-shaped bulges, and if the first guide bulge and the second guide bulge are overlapped, the second guide bulge is inserted into the guide gap, and further inserted into the insertion direction under the guidance of the guide gap until the assembly is successful. Detecting the overlapping area may be determined by a contact sensor, a pressure sensor, a visual sensor, or the like, whether there is contact or an overlapping area.
The first guide protrusion and the second guide protrusion may have an overlapping area when the mop disc is mounted on the mop rotation shaft, and the first guide protrusion and the second guide protrusion do not have an overlapping area when the mop disc is not mounted on the mop rotation shaft, and thus, the following steps may be performed after determining whether there is an overlapping area between the first guide protrusion and the second guide protrusion.
Step A1: in the case of a first guide projection having an overlapping area with a second guide projection, it is determined that the assembly between the mop plate and the mop rotation shaft is successful.
Step A2: in the case that the first guide projection does not have an overlapping area with the second guide projection, it is determined that the mop plate and the mop rotation shaft are in an unassembled state.
In the embodiment disclosed by the application, the mop plate is provided with the slot, the inner wall of the slot can be provided with the first guide bulges which are distributed at intervals, the guide gap is formed between every two adjacent first guide bulges, the rotating shaft of the mop is provided with the second guide bulge, so that the mop plate cannot be mounted on the mop rotation shaft even when the first guide protrusions and the second guide protrusions are caught by each other (i.e., the problem of misalignment between the mop plate and the mop rotation shaft as described above), the first guide protrusions and the second guide protrusions do not have an overlapping area, when the mop plate is mounted on the mop rotation shaft, the first guide projection and the second guide projection have at least an overlapping region, therefore, the first guide protrusion and the second guide protrusion are not only beneficial to realizing assembly, but also can fully utilize the existing guide structure to carry out corresponding detection.
In an alternative embodiment, the mop plate may be provided with a slot, the bottom wall of the slot may be provided with a first metal sheet or a second permanent magnet, and the end surface of the mop rotating shaft may be provided with a first permanent magnet, which has a polarity opposite to that of the second permanent magnet.
Specifically, the first metal sheet may be a metal member magnetically attracted with the first permanent magnet under the action of the magnetic field of the first permanent magnet. When the first metal sheet contacts with the first permanent magnet or the first permanent magnet contacts with the second permanent magnet under the action of magnetic attraction, the mop plate is arranged on the mop rotating shaft. When the first metal sheet is not in contact with the first permanent magnet or the first permanent magnet is not in contact with the second permanent magnet, it can be confirmed that the mop plate is not mounted on the mop rotating shaft.
In the control method disclosed in the embodiment of the present application, determining the state between the mop plate and the mop rotation shaft includes:
and step B1, determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet.
Determining whether the first metal sheet is in contact with the first permanent magnet or whether the first permanent magnet is in contact with the second permanent magnet may be detected by a pressure sensor, a position sensor, an image sensor, or the like. After determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet, performing the following steps:
and step B2, determining the successfully assembled state between the mop plate and the mop rotating shaft under the state that the first metal sheet is contacted with the first permanent magnet or the first permanent magnet is contacted with the second permanent magnet.
And step B3, determining that the mop plate and the mop rotating shaft are in an unassembled state under the condition that the first metal sheet is separated from the first permanent magnet or the first permanent magnet is separated from the second permanent magnet.
It should be noted that the first metal sheet is contacted with the first permanent magnet or the first permanent magnet is contacted with the second permanent magnet under the action of magnetic attraction, and the mop plate and the mop rotating shaft can be detachably connected through the magnetic attraction.
The embodiment disclosed in the application is opened through the mop dish and is equipped with the slot, the diapire of slot is equipped with first sheetmetal or second permanent magnet, the terminal surface of mop rotation axis can be equipped with first permanent magnet, first permanent magnet is opposite with second permanent magnet polarity, make mop dish and mop rotation axis realize dismantling continuous, and regard as the state of assembling success when will be in the contact condition, the detached state is the state of not assembling success, thereby can improve the stability of being connected of mop dish and mop rotation axis, and, above-mentioned scheme also abundant utilization the detachable construction between mop dish and the mop rotation axis and judge whether the assembly is successful.
In another embodiment, the mop plate can be provided with a slot, the bottom wall of the slot can be provided with a first permanent magnet, the end surface of the mop rotating shaft can be provided with a first metal sheet or a second permanent magnet, and the polarity of the first permanent magnet is opposite to that of the second permanent magnet. The principle of action of the present embodiment is the same or similar to the above embodiments, and reference may be made to each other.
The application also discloses a controlling means of cleaning machines people system, and cleaning machines people system includes cleaning machines people and clean basic station, and clean basic station is equipped with the robot and docks the space, and cleaning machines people includes robot body and mop dish, and the robot body includes the mop rotation axis, and clean basic station is including locating the lifting chassis that the robot docks in the space. The specific structure of the cleaning robot system in this embodiment has the same or similar points as the cleaning robot system in the foregoing embodiment, and the embodiments of the cleaning robot system may be referred to each other, and are not described herein again.
Referring to fig. 5, a control apparatus of a cleaning robot system includes:
the first detecting module 501 is configured to detect whether the robot body stops in the robot stopping space.
And the first control module 502 is used for controlling the lifting chassis to drive the mop plate placed on the lifting chassis to lift by a first preset distance under the condition that the robot body is detected to be stopped in the robot stopping space.
A first determination module 503 for determining the status between the mop plate and the mop rotation axis.
And the second control module 504 is used for controlling the lifting chassis to drive the mop cloth tray placed on the lifting chassis to descend for a first preset distance and controlling the mop cloth rotating shaft to rotate for a preset time under the condition that the mop cloth tray and the mop cloth rotating shaft are not assembled successfully, and then starting the first control module.
A first prompt module 505 for sending first information about successful installation of the mop plate in a successful assembly state between the mop plate and the mop rotation shaft.
It should be noted that the functions implemented by the first detection module, the first control module, the first determination module, the second control module, and the first prompt module correspond to the corresponding steps in the method disclosed in the foregoing embodiment, so that the essential contents have the same or similar parts, and the implementation manners of the specific functions may be referred to one another, which is not described herein again.
The control device of the disclosed cleaning robot system further includes:
and the third detection module is used for detecting the first actual control times for controlling the rotating shaft of the mop to rotate for the preset time.
And the seventh control module is used for sequentially controlling the robot body to exit from the robot parking space and enter the robot parking space again when the first actual control time is equal to the first control time threshold value and the mop plate and the mop rotating shaft are in an unassembled state, and starting the step of detecting whether the robot body is parked in the robot parking space.
According to the embodiment of the application, when the mop plate and the mop rotating shaft are detected to be in an unassembled state, the mop plate and the mop rotating shaft are controlled to be installed again after the mop rotating shaft is controlled to rotate, so that the phenomenon that the robot body directly leaves the robot parking space after the mop plate is unsuccessfully installed is avoided, the frequency of installing the mop plate in the robot parking space is reduced, the installing efficiency of the mop plate and the mop rotating shaft is undoubtedly improved, the position of the robot body when the robot is parked is relatively accurate, when the mop plate and the mop rotating shaft are installed, the problem that the mop plate and the mop rotating shaft are inaccurate is solved, the matching position of the mop plate and the mop rotating shaft when the mop plate and the mop rotating shaft are matched can be adjusted by rotating the mop rotating shaft, and the position of the cleaning robot is directly and integrally changed relative to the mop not rotating, is favorable for improving the success rate of the installation of the mop cloth disc and the mop cloth rotating shaft.
The application also discloses another control method of the cleaning robot system, the cleaning robot system comprises a cleaning robot and a cleaning base station, the cleaning base station is provided with a robot parking space, the cleaning robot comprises a robot body and a mop cloth disc, the robot body comprises a mop cloth rotating shaft, the cleaning base station comprises a lifting chassis arranged in the robot parking space, the lifting chassis is provided with a first electromagnetic part, and the mop cloth disc is provided with a second metal sheet or a third permanent magnet. The specific structure of the cleaning robot system in this embodiment has the same or similar points as the cleaning robot system in the foregoing embodiment, and the specific embodiments of the cleaning robot system may be referred to each other, and are not described herein again. The first electromagnetic element may be a component that generates a magnetic field when energized and disappears when de-energized, for example the first electromagnetic element may be an electromagnetic coil. The second metal sheet can be a metal piece which can be magnetically attracted after being electrified with the first electromagnetic piece.
Referring to fig. 6, the present application discloses a control method for detaching a mop plate from a mop rotation shaft, the disclosed control method comprising:
s401: whether the robot body stops in the robot stopping space is detected.
Specifically, S401 and S101 have the same or similar parts, and the specific embodiments of S401 and S101 may be referred to each other, and are not described herein again. The mop plate is detached from the mop rotating shaft and is arranged on the mop rotating shaft, and the cleaning robot stops in the robot stopping space when the robot body is detected to stop in the robot stopping space.
S402: and under the condition that the robot body is detected to be stopped in the robot stopping space, controlling the lifting chassis to lift by a second preset distance until the lifting chassis is tightly attached to the mop plate.
Lifting of the lifting chassis means that the lifting chassis is lifted to close the mop plate. The lifting chassis can be connected with a driving mechanism, the driving mechanism can drive the lifting chassis to lift, and the driving mechanism can be a hydraulic driving piece, a pneumatic driving piece and the like. The second predetermined distance is the distance between the upper surface of the lifting chassis and the lower surface of the mop plate before the lifting chassis is raised, and may be raised from a lowermost position or from a position between the lowermost position and the uppermost position.
S403: and controlling the mop cloth disc in a state of being tightly attached to the lifting chassis to rotate for a second preset time.
Specifically, the second preset time is preset time of the system, and may also be time set manually. The control is in mop dish rotation under the state of hugging closely with the lift chassis and can makes mop dish's surface more level and more smooth to make the distance between first electromagnetic component and second sheetmetal or the third permanent magnet more be close to, thereby make the laminating of lift chassis and mop dish inseparabler, thereby be favorable to first electromagnetic component and second sheetmetal or third permanent magnet to produce magnetic attraction.
S404: and controlling the first electromagnetic piece to be electrified so that the first electromagnetic piece and the second metal sheet or the third permanent magnet generate magnetic attraction and determine the state between the mop plate and the mop rotating shaft.
It should be noted that the determination of the state between the mop plate and the mop rotation axis has the same or similar points with S103, and the same or similar points can be referred to each other and are not described herein. The first electromagnetic piece can produce magnetic field after the circular telegram, and first electromagnetic piece can produce magnetic attraction with second sheetmetal or third permanent magnet. When the first electromagnetic member is not energized, the first electromagnetic member does not generate a magnetic field, the first electromagnetic member does not generate a magnetic attraction force with the second metal piece or the third permanent magnet portion, and the first electromagnetic member may be an electromagnetic coil or the like.
S405: and sending third information about the successful detachment of the mop plate under the condition that the mop plate and the mop rotating shaft are in the successful detachment state.
Specifically, the third information may be sound information, image information, light information, or the like.
S406: and under the condition that the mop cloth disc and the mop cloth rotating shaft are not successfully disassembled, after the lifting chassis is controlled to fall for a second preset distance, starting the step of controlling the lifting chassis to rise for the second preset distance until the lifting chassis is tightly attached to the mop cloth disc.
The embodiment disclosed in the application makes mop dish and mop rotation axis dismantle through the magnetic attraction between the first electromagnetism piece on the lift chassis and the second sheetmetal or the third permanent magnet on the mop dish, after dismantling the failure, through descending lift chassis, rise the lift chassis again and dismantle the mop dish, make again the attempt to dismantle the mop dish go on in the robot stops the space, thereby avoid mop dish to dismantle after the failure cleaning robot directly leave the robot and stop the space, thereby can reduce the cleaning robot and get into again the number of times of dismantling the mop dish in the robot stops the space, this dismantlement efficiency that can improve the mop dish undoubtedly.
Referring to fig. 7, optionally, the control method disclosed in the embodiment of the present application further includes:
s501: and detecting a second actual control frequency for controlling the lifting chassis to lift a second preset distance until the lifting chassis is tightly attached to the mop plate.
Specifically, the second actual control frequency can be calculated through a counter, the lifting chassis is attached to the mop cloth disc once and is recorded as one time, and the lifting chassis can be attached to the mop cloth disc through a pressure sensor or a position sensor.
S502: and when the second actual control frequency is equal to a second control frequency threshold value and the mop cloth disc and the mop cloth rotating shaft are in a state of being not successfully disassembled, sequentially controlling the robot body to exit from the robot parking space and enter the robot parking space again, and starting a step of detecting whether the robot body is parked in the robot parking space or not.
Wherein the second control number threshold is greater than or equal to 2.
The second control time threshold may be a value preset by the system or a value set manually.
The embodiment disclosed in the application can get rid of the position relation between lift chassis and the mop dish and arouse the dismantlement failure through the back that goes up and down at the lift chassis, and the mop dish still can not successfully pull down, and then can come to dismantle again through the position that the space adjusted the robot body that the robot body business turn over robot berths, and then can promote the success rate that the mop dish was dismantled.
In an optional embodiment, the control method disclosed in the present application further includes:
and C1, detecting the number of times of the robot body entering and exiting the robot parking space.
Step C2, in case the number of access is greater than or equal to 2, ends the control or sends a fourth message about the success of the un-removal of the mop plate.
Specifically, the fourth information may be alarm information, and the fourth information may be sound information, image information, light information, or the like.
The number of times that the robot body passed in and out the space that the robot berthed through control of the embodiment disclosed in this application can be avoided because when cleaning robot system broke down, for example mop dish card is dead, the energy consumption problem that the space brought is berthhed to unrestricted business turn over robot of robot body can prevent moreover that too much attempt dismantlement from causing the damage, also can be in time suggestion personnel intervene and inspect to be favorable to protecting cleaning robot system.
Optionally, the mop plate can be provided with a slot, the inner wall of the slot can be provided with a plurality of first guide protrusions distributed at intervals, a guide gap is formed between every two adjacent first guide protrusions, the mop rotating shaft can be provided with second guide protrusions, and the guide gap is used for being matched with the second guide protrusions in a guide mode.
In the control method disclosed in the embodiment of the present application, determining the state between the mop plate and the mop rotation shaft includes:
and D1, determining whether the first guide projection and the second guide projection have an overlapping area.
Step D2, in case the first guide projection and the second guide projection have an overlapping area, determines that the mop plate and the mop rotation shaft are in a state of unsuccessful disassembly.
Step D3, in case the first guide projection does not have an overlapping area with the second guide projection, determines that the removal between the mop plate and the mop rotation shaft is successful.
The embodiment disclosed in the application is through being equipped with the slot to the mop dish, a plurality of first direction archs of interval distribution can be seted up to the inner wall of slot, form the direction clearance between two adjacent first direction archs, the mop rotation axis is equipped with the second direction arch, make when first direction arch blocks each other with the second direction arch, the mop dish just also can't install on the mop rotation axis, first direction arch just can not have overlap region with the second direction arch yet, when the mop dish is installed on the mop rotation axis, first direction arch has overlap region with the second direction arch at least, thereby make first direction arch and second direction arch not only be favorable to realizing the assembly, and can also the existing guide structure of abundant utilization carry out corresponding detection.
In an alternative embodiment, the mop plate may be provided with a slot, the bottom wall of the slot may be provided with a first metal sheet or a second permanent magnet, and the end surface of the mop rotating shaft may be provided with a first permanent magnet, which has a polarity opposite to that of the second permanent magnet.
In the control method disclosed in the embodiment of the present application, determining the state between the mop plate and the mop rotation shaft includes:
and E1, determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet.
Determining whether the first metal sheet is in contact with the first permanent magnet or whether the first permanent magnet is in contact with the second permanent magnet may be detected by a pressure sensor, a position sensor, an image sensor, or the like. After determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet, performing the following steps:
and step E2, under the state that the first metal sheet is contacted with the first permanent magnet or the first permanent magnet is contacted with the second permanent magnet, determining that the mop plate and the mop rotating shaft are in the state of being unsuccessfully disassembled.
And E3, determining that the mop plate and the mop rotating shaft are in a successfully detached state under the condition that the first metal sheet is separated from the first permanent magnet or the first permanent magnet is separated from the second permanent magnet.
The embodiment disclosed in the application is provided with the slot through mop plate opening, the diapire of slot is equipped with first sheetmetal or second permanent magnet, the terminal surface of mop rotation axis can be equipped with first permanent magnet, first permanent magnet is opposite with second permanent magnet polarity, make mop plate and mop rotation axis realize dismantling continuous, and will be in the state of successful assembly when contact state, the separation state is the state of not assembling successfully, make the detachable construction between mop plate and the mop rotation axis that above-mentioned scheme can be abundant judge whether the assembly is successful.
The application also discloses a controlling means of cleaning machines people system, and cleaning machines people system includes cleaning machines people and clean basic station, and clean basic station is equipped with the robot and stops the space, and cleaning machines people includes robot body and mop dish, and the robot body includes the mop rotation axis, and the lift chassis in the space is stopped including locating the robot to clean basic station, and the lift chassis is equipped with first electromagnetism piece, and the mop dish is equipped with second sheetmetal or third permanent magnet. The cleaning robot system in this embodiment has the same or similar points as the cleaning robot system in the foregoing embodiment, and the description thereof is omitted here.
The present application discloses a control device for detaching a mop disc from a mop rotation shaft, the disclosed control device comprising: and the second detection module is used for detecting whether the robot body stops in the robot stopping space.
The mop plate is detached from the mop rotating shaft and is arranged on the mop rotating shaft, and the cleaning robot stops in the robot stopping space when the robot body is detected to stop in the robot stopping space.
And the third control module is used for controlling the lifting chassis to lift a second preset distance until the lifting chassis is tightly attached to the mop plate under the condition that the robot body is detected to stop in the robot stopping space.
And the fourth control module is used for controlling the mop cloth disc in a state of being tightly attached to the lifting chassis to rotate for a second preset time.
And the fifth control module is used for controlling the first electromagnetic piece to be electrified so as to enable the first electromagnetic piece and the second metal sheet or the third permanent magnet to generate magnetic attraction.
A second determination module for determining a state between the mop plate and the mop rotation axis.
And the second prompting module sends out third information about successful disassembly of the mop cloth disc when the mop cloth disc and the mop cloth rotating shaft are in a state of successful disassembly.
And the sixth control module is used for controlling the lifting chassis to fall for a second preset distance and then starting the third control module when the mop plate and the mop rotating shaft are not successfully disassembled.
It should be noted that the functions of the second detection module, the third control module, the fourth control module, the fifth control module, the second determination module, the second prompt module, and the sixth control module are the same as or similar to the corresponding functions disclosed in the foregoing embodiments, and the same or similar points may be referred to each other, and are not repeated herein.
In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A control method of a cleaning robot system, the cleaning robot system comprising a cleaning robot and a cleaning base station, the cleaning base station being provided with a robot docking space, the cleaning robot comprising a robot body and a mop plate, the robot body comprising a mop rotation shaft, the cleaning base station comprising a lifting chassis provided in the robot docking space, the control method comprising:
detecting whether the robot body is parked in the robot parking space or not;
under the condition that the robot body is detected to be parked in the robot parking space, controlling the lifting chassis to drive the mop plate placed on the lifting chassis to lift by a first preset distance;
determining a state between the mop plate and the mop rotation shaft;
controlling the lifting chassis to drive the mop disc placed on the lifting chassis to descend for a first preset distance under the condition that the mop disc and the mop rotating shaft are not assembled successfully, and starting to control the lifting chassis to drive the mop disc placed on the lifting chassis to ascend for a first preset distance after controlling the mop rotating shaft to rotate for a preset time;
in the successfully assembled state between the mop plate and the mop rotation shaft, first information is emitted about the successful installation of the mop plate.
2. The control method according to claim 1, characterized by further comprising:
detecting a first actual control frequency for controlling the mop rotating shaft to rotate for the preset time;
when the first actual control times are equal to a first control times threshold value and the mop disc and the mop rotating shaft are in an unassembled state, sequentially controlling the robot body to exit from the robot parking space and reenter the robot parking space, and starting a step of detecting whether the robot body is parked in the robot parking space; wherein:
the robot body enters the first position in the robot parking space again and is different from the second position in the robot parking space before exiting, and the first control time threshold is greater than or equal to 2 times.
3. The control method according to claim 2, characterized by further comprising:
detecting the number of times of entering and exiting the robot body into and out of the robot parking space;
in the case that the number of accesses is greater than or equal to 2, the control is ended or a second message is issued that the mop plate has not been successfully mounted.
4. The control method according to claim 1, wherein the mop plate is provided with a slot, the slot is provided at an inner wall thereof with a plurality of first guide protrusions which are spaced apart from each other, a guide gap is formed between two adjacent first guide protrusions, the mop rotating shaft is provided with a second guide protrusion, the guide gap is used for guiding and matching with the second guide protrusion, and wherein:
the determining a state between the mop plate and the mop rotation axis comprises:
determining whether there is an overlapping area between the first guide projection and the second guide projection;
determining that the mop plate and the mop rotation shaft are in a successfully assembled state in a case where the first guide protrusions and the second guide protrusions have an overlapping area;
in the case where the first guide projection and the second guide projection do not have an overlapping region, it is determined that the mop plate and the mop rotation shaft are in an unassembled state.
5. The control method according to claim 1, characterized in that the mop plate is provided with a slot, the bottom wall of which is provided with a first metal sheet or a second permanent magnet, the end surface of the mop rotation shaft is provided with a first permanent magnet, the polarity of which is opposite to that of the second permanent magnet, wherein:
the determining a state between the mop plate and the mop rotation shaft includes:
determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet;
determining that the mop plate and the mop rotating shaft are in a successful assembly state under the condition that the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet;
and under the condition that the first metal sheet is separated from the first permanent magnet or the first permanent magnet is separated from the second permanent magnet, determining that the mop plate and the mop rotating shaft are in an unassembled state.
6. The utility model provides a controlling means of cleaning machines people system, its characterized in that, cleaning machines people system includes cleaning machines people and clean basic station, clean basic station is equipped with the robot and docks the space, cleaning machines people includes robot body and mop dish, robot body includes the mop rotation axis, clean basic station is including locating lifting chassis in the robot docks the space, controlling means includes:
the first detection module is used for detecting whether the robot body stops in the robot stopping space or not;
the first control module is used for controlling the lifting chassis to drive the mop disc placed on the lifting chassis to lift by a first preset distance under the condition that the robot body is detected to stop in the robot stopping space;
a first determining module for determining a state between the mop plate and the mop rotation shaft;
the second control module is used for controlling the lifting chassis to drive the mop disc placed on the lifting chassis to descend for the first preset distance and controlling the mop rotating shaft to rotate for preset time and then starting the first control module under the condition that the mop disc and the mop rotating shaft are not assembled successfully;
and the first prompting module is used for sending first information about successful installation of the mop plate under the condition that the assembly between the mop plate and the mop rotating shaft is successful.
7. A control method of a cleaning robot system, the cleaning robot system comprising a cleaning robot and a cleaning base station, the cleaning base station being provided with a robot parking space, the cleaning robot comprising a robot body and a mop plate, the robot body comprising a mop rotation shaft, the cleaning base station comprising a lifting chassis provided in the robot parking space, the lifting chassis being provided with a first electromagnetic member, the mop plate being provided with a second metal sheet or a third permanent magnet, the control method comprising:
detecting whether the robot body is parked in the robot parking space or not;
under the condition that the robot body is detected to be parked in the robot parking space, controlling the lifting chassis to lift a second preset distance until the lifting chassis is tightly attached to the mop plate;
controlling the mop plate in a state of being tightly attached to the lifting chassis to rotate for a second preset time;
controlling the first electromagnetic piece to be electrified so that the first electromagnetic piece and the second metal sheet or the third permanent magnet generate magnetic attraction and determining the state between the mop plate and the mop rotating shaft;
sending third information about the successful detachment of the mop plate in a state that the mop plate is successfully detached from the mop rotating shaft;
and under the condition that the mop cloth disc and the mop cloth rotating shaft are not successfully disassembled, controlling the lifting chassis to descend for a second preset distance, and starting the step of controlling the lifting chassis to lift for the second preset distance until the lifting chassis is tightly attached to the mop cloth disc.
8. The control method according to claim 7, characterized by further comprising:
detecting a second actual control frequency for controlling the lifting bottom disc to rise by a second preset distance until the lifting bottom disc is tightly attached to the mop disc;
the second actual control times is equal to a second control times threshold value, the mop cloth disc and the mop cloth rotating shaft are in an undetached state, the robot body is sequentially controlled to exit from the robot parking space and enter the robot parking space again, the robot body is started and detected whether to park in the robot parking space, and the second control times threshold value is larger than or equal to 2 times.
9. The control method according to claim 7, characterized by further comprising:
detecting the number of times of entering and exiting the robot body into and out of the robot parking space;
in the case that the number of accesses is greater than or equal to 2, the control is ended or a fourth message is issued that the mop plate has not been detached successfully.
10. The control method according to claim 7, wherein the mop plate is provided with a slot, the slot is provided at an inner wall thereof with a plurality of first guide protrusions which are spaced apart from each other, a guide gap is formed between two adjacent first guide protrusions, the mop rotating shaft is provided with a second guide protrusion, the guide gap is used for guiding and matching with the second guide protrusion, and wherein:
the determining a state between the mop plate and the mop rotation shaft includes:
determining whether there is an overlapping area between the first guide projection and the second guide projection;
determining an undetached condition between the mop plate and the mop rotation shaft in the case where the first guide projection and the second guide projection have an overlapping area;
in the case that the first guide projection and the second guide projection do not have an overlapping area, it is determined that the removal between the mop plate and the mop rotation shaft is successful.
11. The control method according to claim 7, wherein the mop plate is provided with a slot, the bottom wall of the slot is provided with a first metal sheet or a second permanent magnet, the end surface of the mop rotating shaft is provided with a first permanent magnet, the polarity of the first permanent magnet is opposite to that of the second permanent magnet, wherein:
the determining a state between the mop plate and the mop rotation shaft includes:
determining whether the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet;
determining that the mop plate and the mop rotating shaft are in an unsuccessfully detached state under the state that the first metal sheet is in contact with the first permanent magnet or the first permanent magnet is in contact with the second permanent magnet;
and under the condition that the first metal sheet is separated from the first permanent magnet or the first permanent magnet is separated from the second permanent magnet, determining that the mop plate and the mop rotating shaft are in a successfully-detached state.
12. The utility model provides a controlling means of cleaning machines people system, a serial communication port, cleaning machines people system includes cleaning machines people and clean basic station, clean basic station is equipped with the robot and docks the space, cleaning machines people includes robot body and mop dish, robot body includes the mop rotation axis, clean basic station is including locating the robot docks the lift chassis in the space, the lift chassis is equipped with first electromagnetism piece, mop dish is equipped with second sheetmetal or third permanent magnet, controlling means includes:
the second detection module is used for detecting whether the robot body stops in the robot stopping space or not;
the third control module is used for controlling the lifting chassis to lift a second preset distance until the lifting chassis is tightly attached to the mop plate under the condition that the robot body is detected to be parked in the robot parking space;
the fourth control module is used for controlling the mop plate in a state of being tightly attached to the lifting chassis to rotate for a second preset time;
the fifth control module is used for controlling the first electromagnetic piece to be electrified so that the first electromagnetic piece and the second metal sheet or the third permanent magnet generate magnetic attraction force;
a second determination module for determining a state between the mop plate and the mop rotation shaft;
the second prompting module is used for sending third information about successful disassembly of the mop cloth disc when the mop cloth disc and the mop cloth rotating shaft are in a state of successful disassembly;
and the sixth control module is used for controlling the lifting chassis to descend for a second preset distance and then starting the third control module when the mop plate and the mop rotating shaft are in an undetached state.
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| CN217488528U (en) * | 2022-05-13 | 2022-09-27 | 杭州萤石软件有限公司 | Cleaning robot and cleaning robot system |
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